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Summary of 3D geometry and pose

lesson

We recap the important points from this lecture.

Summary of 2D geometry and pose

lesson

We summarise the important points from this lecture.

Quaternions representation of rotation in 3D

lesson

The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object.   In the MATLAB example starting at 3:48 I use the Quaternion class.  For Toolbox version 10 (2017) please use UnitQuaternion instead.

Velocity of 6-Joint Robot Arm – Rotation

lesson

We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

Summary of paths and trajectories

lesson

We summarise the important points from this lecture.

Analyzing a 2-joint planar robot arm

lesson

We consider a robot, which has two rotary joints and an arm.

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